function res = lstraight_2_results
 res = ... 
 { ... 
	struct('axle', 0.0892719, ... 
	 'l_diam', 0.0418956, ... 
	 'r_diam', 0.0419852, ... 
	 'l_x', -0.00595008, ... 
	 'l_y', 9.61081e-05, ... 
	 'l_theta', 0.00639555, ... 
	 'E_d', 1.00214, ... 
	 'E_b', 0.99191, ... 
	 'covariance', [6.81667e-09, 6.65954e-09, 2.86838e-08, 2.20819e-12, -1.17014e-10, -7.37342e-10;  6.65954e-09, 6.84662e-09, 2.87499e-08, 2.34903e-12, 2.56226e-10, -1.83452e-09;  2.86838e-08, 2.87499e-08, 1.24015e-07, -1.07416e-10, 3.00778e-10, -5.47042e-09;  2.20819e-12, 2.34903e-12, -1.07416e-10, 1.48734e-08, -1.39472e-10, 6.24179e-10;  -1.17014e-10, 2.56226e-10, 3.00778e-10, -1.39472e-10, 3.49991e-08, -4.01593e-08;  -7.37342e-10, -1.83452e-09, -5.47042e-09, 6.24179e-10, -4.01593e-08, 6.57068e-06])... 
 }; 
